Schedule & Information

Seminar of Frontiers in Biomechanics and Bio-Inspired Robotics-2021

Soft Robotics × AI

Fumiya Iida

September 3

20:00 PM (CST, Beijing, China )

12:00 PM ( GMT, Greenwich Mean Time)

Fumiya Iida is a reader in robotics at Department of Engineering, University of Cambridge, the director of Bio-Inspired Robotics, and the deputy director of EPSRC Centre of Doctoral Training in Agri-Food Robotics. He received his bachelor and master degrees in mechanical engineering at Tokyo University of Science (Japan, 1999), and Dr. sc. nat. in Informatics at University of Zurich (2006). In 2004 and 2005, he was also engaged in biomechanics research of human locomotion at Locomotion Laboratory, University of Jena (Germany). From 2006 to 2009, he worked as a postdoctoral associate at the Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology in USA. In 2006, he awarded the Fellowship for Prospective Researchers from the Swiss National Science Foundation, and in 2009, the Swiss National Science Foundation Professorship for an assistant professorship at ETH Zurich from 2009 to 2015. He was a recipient of the IROS2016 Fukuda Young Professional Award, Royal Society Translation Award in 2017, Tokyo University of Science Award in 2021. His research interest includes biologically inspired robotics, embodied artificial intelligence, and biomechanics, where he was involved in a number of research projects related to dynamic legged locomotion, dextrous and adaptive manipulation, human-machine interactions, and evolutionary robotics. URL: http://birlab.org/

Abstract

Soft robotics research has made considerable progress in many areas of robotics technologies based on deformable functional materials, including locomotion, manipulation, and other morphological adaptation such as self-healing, self-morph, and mechanical growth. While these technologies open up many new robotics applications, but the new challenges emerge in terms of sensing, modelling, planning and controlling. Because of the general complexity of the system based on flexible and continuum mechanics, and a large diversity of system-environment interactions, the conventional methods are often not applicable, and the new approaches are necessary based on the state-of-the-art machine learning techniques. In this talk, I will introduce some of the research projects in our laboratory that make use of soft robotics and machine learning techniques, for addressing the complexity challenges of robotics.

Using Bio-inspiration carefully: examples in burrowing and jumping robots

Elliot Hawkes

September 8

9:00 AM (CST, Beijing, China)

1:00 AM ( GMT, Greenwich Mean Time )

Elliot W. Hawkes is an Assistant Professor of Mechanical Engineering at UCSB. He completed a postdoctoral fellowship at Stanford University, where he also earned his MS and PhD in Mechanical Engineering. Previously, he worked at the Harvard Microrobotics Lab and the ETH Multi-scale Robotics Lab. His lab's research is at the intersection of design, mechanics, and materials, and develops novel mechanisms and applies non-traditional materials to solve challenging problems in robotics, medicine, and biomechanics. He recently received the NSF CAREER Award, the NASA Early Career Faculty Award, the IEEE RAS Early Career Award, and the Packard Fellowship. His work has received press from outlets such as the NY Times, BBC, the Wall Street Journal, and the Late Show with Stephen Colbert.

The amazing elephant trunk

David L. Hu ( 胡立德 )

September 9

9:00 AM (CST, Beijing, China)

1:00 AM ( GMT, Greenwich Mean Time )

Dr. David Hu is a mechanical engineer who studies the interactions of animals with water. His team has discovered how dogs shake dry, how insects walk on water, and how eyelashes protect the eyes from drying. Originally from Rockville, Maryland, he earned degrees in mathematics and mechanical engineering from M.I.T., and is now Professor of Mechanical Engineering and Biology and Adjunct Professor of Physics at Georgia Tech. He is a recipient of the National Science Foundation CAREER award for young scientists, the Ig Nobel Prize in Physics, and the Pineapple Science Prize (the Ig Nobel of China). He serves on the editorial board of Nature Scientific Reports and The Journal of Experimental Biology. His work has been featured in The Economist, The New York Times, Saturday Night Live, and Highlights for Children. He has defended basic research in a Scientific American article, Confessions of a Wasteful Scientist. He lives with his wife Jia and children Harry and Heidi in Atlanta, Georgia.

Abstract

An elephant eats 200 kg per day, or the equivalent of 200 grams every minute.  How does an elephant feed so quickly?  We present experiments with African elephants at the Atlanta Zoo and dissections of elephant trunks at the Smithsonian Institution.  We demonstrate three ways that elephants can feed quickly:  sucking like a vacuum cleaner, squeezing food items together, and wrapping their trunk around objects to get a better grip.   We use mathematical models to rationalize the forces and geometries required by the trunk to perform these feats.  We will also talk about our Ig Nobel prize winning work on cube-shaped poo of wombats.  

Bioinspired design of soft morphing robots

Kyu-Jin Cho

September 9

9:00 AM (CST, Beijing, China)

1:00 AM ( GMT, Greenwich Mean Time )

Kyu-Jin Cho received B.S and M.S. degrees from Seoul National University, Seoul, Korea and a Ph.D. degree in mechanical engineering from MassachusetS Institute of Technology. He was a post­doctoral fellow at Harvard Microrobotics Laboratory一 At present he is an associate professor of Mechanical and Aerospace Engineering, the director of Soft Robotics Research Center and die director of Biorobotics Laboratory at Seoul National University. His research interests include biologically inspired robotics, soft robotics, soft UTarable devices:novel mechanisms using smart structures, and rehabilitation and assistive robotics. He has been exploring novel soft bio-inspired robot designs, including a water jumping robot, flytrap inspired robot and a soft wearable robot for the hand, called Exo-Glove. The work on the water jumping robot was published in SCIENCE and covered by over 300 news media world-wide. He has received the 2014 IEEE RAS Early Academic Career Award for his fundamental contributions to soft robotics and biologically inspired robot design. He has also received the 2014 ASME Compliant Mechanism Award, 2013 IROS Best Video Award, 2015 KROS Hakbo ART (Assistive Robotic Technology) Award and 2013 KSPE Paik Am Award. The Biorobotics Lab has won the 1st RoboSoft Grand Challenge (April, 2016) sponsored by European Commission with the robot “SNUXIAX1' in Livorno, Italy.

Sea star inspired locomotion: from tube feet biomechanics to neuronal control

Sina Heydari, Matthew J. McHenry, and Eva Kanso

September 13

10:00 AM (CST, Beijing, China)

2:00 AM ( GMT, Greenwich Mean Time )

Sina Heydari is a PhD candidate in the Aerospace and Mechanical Engineering department at the University of Southern California (USC). He received his B.Sc. from Sharif University of Technology in 2016 and his M.Sc. from USC in 2018. He’s currently a research assistant in Prof. Kanso’s Bioinspired Motion Lab at USC, where he designs mathematical models to study the physics of biological systems like fish schools and Echinoderms. His work on sea star inspired locomotion has been featured on outlets like BBC News, KQED and Evolution News.

Abstract

There is a growing effort to understand decentralized control mechanisms, particularly in application to robotic systems with distributed sensors and actuators. Sea stars, being equipped with hundreds of tube feet, are an ideal model system for studying decentralized sensing and actuation. A tube foot consists of soft, water-filled, muscular membranes that extend and contract through changing the hydraulic pressure, forming a perfect example of a soft actuator. Individual tube feet are equipped with integrated sensing and actuation, and the activity of arrays of tube feet is orchestrated by a nerve net that is distributed throughout the body; there is no central brain. How the numerous tube feet are controlled and coordinated for locomotion through such a distributed nervous system and what they sense remains mostly unknown. Here, we analyze the biomechanics of individual tube feet, and construct low-order mathematical models of these soft actuators consisting of passive and active force elements. We then formulate hierarchical motor control laws, where the direction of motion of all tube feet is centrally controlled, while individual tube feet have local autonomy over their actuation, via peripheral sensori-motor feedback loops. We then use a reinforcement learning algorithm to find the most effective sensory cues for each task in the motor feedback loops. We also propose local directionality control laws for individual feet and show that symmetry-breaking and coherent locomotion emerges from local tube feet control. We find that the mechanical interaction of multiple tube feet lead to stable and robust locomotion with minimal cost to the nervous system in terms of sensory integration. To conclude, we comment on the utility of this system as a new paradigm for robotic movement using distributed arrays of soft actuators.

Multistable inflatable origami- from deployable structures to robots

Katia Bertoldi

September 15

9:00 AM (CST, Beijing, China)

1:00 AM ( GMT, Greenwich Mean Time )

Katia Bertoldi’s research involves the use of continuum mechanics and applied mathematics to model the mechanical behavior of novel materials at the small scale, such as nano-composites and biological composites. The aim of her group is to establish relationships between the internal structure of a material and its mechanical properties. The greater understanding of existing and potential discovery of new materials, especially those with improved and even ‘tunable’ properties, have direct use in many critical fields, including acoustics, optics, and electronics. Her primary areas of interest include: continuum mechanics analyses of behavior of modern materials; buckling and instabilities; waves propagation; constitutive modeling of polymers; computational mechanics; fracture mechanics; applied mathematics; and the mechanical behavior of biological materials. Prior to her appointment at Harvard, Bertoldi was an Assistant Professor at the University of Twente in the Netherlands. She earned a Ph.D. in Mechanics of Materials and Structures from the University of Trento in Italy; an International Masters in Structural Engineering from Chalmers University of Technology in Goteborg, Sweden; and a Laurea Degree in Civil Engineering from University of Trento.